%% Data of the VIPALAB (Characteristcs)
vipalab.physical.wtrobot = 650;                        % Weight of the robot (kg)
vipalab.physical.lrobot = 1.96;                        % Length of the robot (m)
vipalab.physical.wrobot = 1.27;                        % Width of the robot (m)

vipalab.physical.wtrack = 1.20;                         % Track width (m)
vipalab.physical.lbase = 1.20;                          % Wheel base (m)
vipalab.physical.tradmin = 3.8;                         % Minimum turning radius (m)
vipalab.physical.rwheel = 0.5;                          % Radius of the wheel (m)

%% Data of the odometer (IMU/GPS) (Characteristcs)
vipalab.Odom.freq = 100;                        % IMU/GPS frequency (Hz)
vipalab.Odom.resol = 0.02;                      % IMU/GPS resolution (m)
vipalab.Odom.resolhead = 0.01;                  % IMU/GPS heading resolution (degree)
vipalab.Odom.Timu = [0;0;2];                    % Position of the IMU/GPS no VIPALAB

%% Data of the Motor (Speed & steering lock angle) (Characteristcs)
vipalab.motor.vmax = 1.5;%1                          % Maximum linear velocity of the robot (m/s)
vipalab.motor.vmin = 0.1;                            % Minimum linear velocity of the robot (m/s) for the curve
vipalab.motor.speedresol = 0.1;                      % Speed resolution (m/s)
vipalab.motor.rsteerangle = 19*pi/180;               % Steering lock angle (radians)
vipalab.motor.steerresol = 0.02;                     % Steering resolution (degree)
vipalab.motor.speedfreq = 100;                       % Speed & steering frequency (Hz)
vipalab.motor.accmax = 1;                            % Aceleration of the robot (m/s^2)

vipalab.Tsrob = 0.01;                                % Sample time of the system (VIPALAB) (s)